CN114176727B - System for marking respiratory phase point in CT image and use method thereof - Google Patents
System for marking respiratory phase point in CT image and use method thereof Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention discloses a system for marking respiratory phase points in CT images and a use method thereof, wherein the system comprises: the scale marker is arranged on the CT machine; a movable marker reciprocating along a scale formed by the scale markers; a respiration monitoring device for sampling patient respiration data; the controller acquires the breathing data of the patient acquired by the breathing monitoring device, a breathing curve of the patient is obtained according to the breathing data, the movable marker is controlled to move synchronously with the breathing curve of the user along the scale according to the breathing curve of the patient.
Description
Technical Field
The invention relates to the field of image processing, in particular to a system for marking respiratory phase points in CT images and a use method thereof.
Background
In the traditional puncture operation, the process that a puncture needle punctures a focus needs a doctor to rely on the image of a CT machine and then puncture by experience, and the accuracy depends on the experience of the doctor; with the development of technology, a technology for assisting puncture by adopting respiratory gating starts to appear; in the existing scheme, a spirometer is mainly used for measuring the respiration capacity of a patient, an infrared camera device is used for measuring the height difference of the surface of the patient along with respiration fluctuation, or a pressure sensor and the like are used for measuring the pressure difference caused by respiration of the patient, and the measurement signals are converted into respiration cycle signals.
However, the prior art cannot intuitively combine the respiratory phase with the CT image, and at the same time, the coaxial scanning is adopted, so that at least one respiratory cycle image needs to be captured, which results in a great increase of the radiation dose to the patient.
Disclosure of Invention
The invention aims to: the invention aims at the defects and provides a system for marking a respiratory phase point in a CT image and a use method thereof, wherein the respiratory phase is combined with the CT image, and a doctor can accurately judge the position, the angle and the respiratory phase point of a target object according to the cross-sectional image of the selected CT image.
The technical scheme is as follows:
a system for marking respiratory phase points in CT images, comprising:
the scale marker is arranged on the CT machine;
a movable marker reciprocating along a scale formed by the scale markers;
a respiration monitoring device for sampling patient respiration data;
and the controller is used for acquiring the breathing data of the patient acquired by the breathing monitoring device, obtaining a breathing curve of the patient according to the breathing data, and controlling the movable marker to move along the scale synchronously with the breathing curve of the user according to the breathing curve of the patient.
The scale markers and the movable markers are made of materials with different densities and capable of being displayed in CT images.
The cross-sectional areas of the scale marker and the movable marker are different.
The controller controls the movable marker to reciprocate through a motor.
The motor is connected with a transmission mechanism, the movable marker is installed on the transmission mechanism, and the motor drives the movable marker to reciprocate through the transmission mechanism.
The transmission mechanism is a synchronous belt wheel.
The controller receives sampling data of at least one period sent by the respiration monitoring device, calculates to obtain two points with farthest distances, calculates average values of distances between other sampling points and the two points respectively, selects a point with smaller average value as a datum point, and obtains a respiration curve of a patient along with time change according to the distance, the direction change and the sampling time between the other sampling points and the datum point.
The controller obtains the sampling data sent by the respiration monitoring device and then carries out abnormality detection on the sampling data, and the method specifically comprises the following steps:
if |x i+1 -x i-1 |vα*max(|x i -x i-1 |，|x i -x i+1 I), the ith sampling point is considered to be abnormal, and the data value is replaced by the average value of the data values sampled by the front sampling point and the rear sampling point, namely x i ＝(x i+1 +x i-1 ) 2; wherein x is i Data value representing the ith sample point, alpha represents a threshold coefficient, x i+1 、x i-1 Respectively representing the i+1 th sampling point and the i-1 th sampling point.
The controller takes the distance between the two points farthest from the controller as the respiratory movement range D breath Obtaining the movement stroke D of the movable marker according to the scale marker motor The set distance upwards at the lowest position of the scale formed by the scale marks is used as the lowest position of the movable marks, the set distance downwards at the highest position of the scale formed by the scale marks is used as the highest position of the movable marks, so that the actual movement range of the movable marks is obtained, and the breathing movement range D is obtained breath Mapping with the actual movement range of the movable marker, and controlling the movable marker to move synchronously with the breathing curve of the user in the obtained actual movement range of the movable marker according to the mapping.
According to the data value p of the ith sampling point on the breathing curve i Obtaining the time interval between adjacent sampling points according to the sampling frequency of the breathing curveAnd obtaining the real-time movement position q of the movable marker according to the mapping relation i ＝p i From this the speed of change between the adjacent real-time movement positions of the movable marker is calculated>The movement of the movable marker is controlled accordingly.
In the event that the movement of the movable marker exceeds the scale range defined by the scale markersMapping the data value on the breathing curve of the ith sampling point to the movement stroke D of the movable marker motor And calculating the change speed between the adjacent real-time motion positions of the movable marker according to the change speed and controlling the movement of the movable marker according to the change speed.
And monitoring the variation of the datum point in real time, considering that the datum point needs to be calibrated when the variation exceeds a set threshold value, calculating the deviation between the sampling data at the phase point of the corresponding datum point in the historical data and the sampling data of the datum point according to the periodic variation property of the datum point, and superposing the deviation to the sampling data after the datum point.
The set distance is 0.1 x D motor 。
The respiration monitoring device adopts a respiration bellyband, an infrared respiration tracking device or a mask type respiration measuring device.
A method of using a system for labeling respiratory phase points in CT images as described above, comprising the steps of:
(1) Installing a scale marker and a movable marker on a CT machine; a respiration monitoring device is arranged at a corresponding position on the patient;
(2) Acquiring patient breathing data acquired by a breathing monitoring device, obtaining a patient breathing curve according to the patient breathing data, and controlling the movable marker according to the patient breathing curve so that the movable marker can move synchronously with the patient breathing curve on a scale formed by the scale marker, wherein a CT machine scans an image of an affected part of a patient and a moving position image of the movable marker on the scale simultaneously;
(3) A doctor selects a required CT image and performs puncture planning, and respiratory phase points of a patient during puncture are obtained according to scale values corresponding to the movable marker on the scale marker on the CT image;
(4) The doctor punctures the lower needle according to the step (3) when the movable marker moves to the corresponding respiratory phase point again in the subsequent puncturing process.
The beneficial effects are that: according to the invention, the marking device is arranged at the corresponding position of the CT, the CT image of the affected part of the patient can be acquired, the marking device of the breathing phase is imaged, the corresponding breathing phase is obtained, a doctor can accurately judge the position, the angle and the breathing phase point of the target object according to the cross-sectional image of the selected CT image, and the needle can be inserted at the corresponding breathing phase point according to planning in the follow-up puncture process, so that the uncertainty caused by breathing motion is eliminated. The CT images the affected part of the patient and simultaneously images the moving wire and the grid which record the respiratory phase point, so that the CT image and the respiratory phase are combined, and a doctor can conveniently plan a path according to the cross section of the CT image and insert a needle according to the planning at the corresponding respiratory phase point.
Drawings
FIG. 1 is a schematic diagram of a marking device for marking respiratory phases according to the present invention;
FIG. 2 is a schematic view of the use and installation of the present invention;
FIG. 3 is a schematic view of the positional relationship between a metal grid and a CT detector according to the present invention;
FIG. 4 is a flow chart of the acquisition of a patient breathing curve in accordance with the present invention;
fig. 5 is a flow chart of the lancing operation of the present invention.
In the figure, the reference numeral 1 is a side plate 11, a metal grid 12, a support plate 13, a motor support plate 14, a synchronous belt 15, a metal moving wire 16, a controller 17, a belt pulley 18, a motor 19, a 2 CT machine 21, a ray source 22 and a detector.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
The invention provides a system for marking respiratory phase points in CT images, which comprises a marking device 1, a respiratory monitoring device and an upper computer, wherein the marking device 1 and the respiratory monitoring device are respectively connected with the upper computer.
Fig. 1 is a schematic view of a marking device according to the present invention, and as shown in fig. 1, the marking device 1 according to the present invention includes a side plate 11, a support plate 13, a metal grid 12, a motor 19, a timing belt 15, and a metal moving wire 16. The metal grids 12 are straight metal wires with diameters of 2-3 mm, the number of the metal wires is a plurality of the metal wires, the metal wires are arranged between the supporting plate 13 and the side plate 11 at equal intervals, and the spacing accuracy is controlled to have the effect of a graduated scale. The metal grid 12 and the metal moving wire 16 can be displayed in the CT image, and besides the metal material, the metal grid and the metal moving wire can also be made of other materials such as high-density nonmetallic materials, bones and the like which can be imaged in the CT image. In order to better distinguish the metal grid and the metal moving wire in the CT image, the metal grid and the metal moving wire are made of materials with different selection densities, and the cross-sectional areas of the metal grid and the metal moving wire can be designed to be different.
The two ends of the supporting plate 13 are respectively fixedly provided with a belt wheel 18, and a synchronous belt is wound outside the belt wheel 18; the motor support plate 14 is fixedly arranged on the outer side of the support plate 13, a motor 19 is fixedly arranged at one end of the motor support plate 14, and an output shaft of the motor 19 is fixedly connected with one of the belt pulleys 18 and drives the motor support plate to rotate so as to drive the synchronous belt 15 to move.
The metal moving wire is a metal or other nonmetallic straight rigid object with the diameter of 2-3 mm, can be imaged by CT, is fixedly arranged on the synchronous belt 15 parallel to the metal grid 12, and moves along with the synchronous belt 15.
A controller 17 is also fixedly mounted on the motor support plate 14, and the controller 17 is connected with the motor 19 through a cable and controls the motor 19. The controller 17 receives signals from the respiration monitoring device and issues control signals which control the motor 19. In other embodiments, the controller 17 is not limited to be fixed to the motor support plate 14, but the controller 17 may be an upper computer, and the upper computer may perform signal transmission with the respiration monitoring device and the marking device 1.
Fig. 2 is a view showing a usage scenario and an installation schematic of the present invention, as shown in fig. 2, the marking device 1 of the present invention is fixed on the CT machine 2 through a mounting seat, and is located between the radiation source 21 and the flat panel detector 22, meanwhile, the metal grid 12 is parallel to the extending direction of the bed of the CT machine 2, and the center of the metal grid 12 is opposite to the radiation source of the CT machine 2, that is, the installation position of the marking device 1 is such that the central ray of the radiation source of the CT machine 2 passes through the center of the metal grid 12, as shown in fig. 3; the metal grid 12 and the metal moving wire 16 of the marking device 1 are ensured to be in the CT machine 2 radiation range during installation, and other structures of the marking device 1 are outside the CT radiation range.
In the invention, because the affected part and the marking device are imaged together, in order not to influence the identification and diagnosis of the focus in the patient image by a doctor, the marking device 1 is arranged at a position closer to the human body in the CT machine 2, so that the affected part and the marking device 1 are compactly concentrated in the imaged image, and the observation and diagnosis of the doctor are convenient. More specifically, the marking device 1 is mounted on the housing of the CT machine 2, and is located at a position closer to the human body within the housing of the CT machine 2.
The input of the marking device 1 is a respiration monitoring device which can be a respiration bellyband, an infrared respiration tracking device or a mask type respiration measuring device and the like, the respiration monitoring device is arranged at a corresponding position of a patient, and sampling data representing lung respiration of the patient along with time change are captured according to sampling frequency.
As shown in fig. 4, the controller receives sampling data of at least one period sent by the respiration monitoring device, calculates two points with farthest euclidean distance in the sampling data by adopting a violence solution method, a convex hull algorithm, a K-D tree algorithm and the like, calculates the average value of euclidean distances between the rest sampling points and the two points respectively, selects a point with smaller average value as a reference point (namely, the end point of inspiration), obtains a respiration curve of a patient changing along with time according to the euclidean distance, the direction change and the sampling time between the rest sampling points and the reference point, and simultaneously uses the distance between the two points with farthest euclidean distance as a respiration motion range D breath 。
According to the invention, the reference point change is caused by uncomfortable movement of a human body, zero drift of a sensor, movement of a respiratory measurement device and the like, so that the reference point change amount is monitored in real time, the reference point is considered to need to be calibrated under the condition that the reference point change amount exceeds a set threshold value, according to the periodic change property of the reference point, the deviation between sampling data at the corresponding reference point phase point in historical data (namely a historical respiratory curve) and the reference point sampling data is calculated, and the deviation is added to the reference point to sample the data.
In the present invention, it is possible to monitor the variation of the reference point in a certain dimension in real time in three dimensions and calibrate the reference point according to the method described above if it exceeds the dimension set threshold.
The controller receives the sampling data sent by the respiration monitoring device, carries out anomaly detection on the sampling data, replaces the data value of the anomaly sampling point, and obtains a respiration curve changing along with time by adopting the method;
wherein the anomaly detection is as follows:
if |x i+1 -x i-1 |vα*max(|x i -x i-1 |，|x i -x i+1 I), the ith sampling point is considered to be abnormal, and the data value is replaced by the average value of the data values sampled by the front sampling point and the rear sampling point, namely x i ＝(x i+1 +x i-1 ) 2; wherein x is i The data value representing the ith sampling point, alpha represents a threshold coefficient, and generally takes 1.0; x is x i+1 、x i-1 Respectively representing the sampling data of the (i+1) th sampling point and the (i-1) th sampling point;
the controller obtains the respiratory movement range D according to the method breath And obtaining the movement travel D of the metal wire 16 according to the arrangement of the metal grid 12 motor 0.1 x d upward at the lowest position of the scale formed by the metal grid 12 motor As the lowest part of the movement of the moving wire 16, 0.1 x d down at the highest position of the scale formed by the metal grid 12 motor As the highest point of the movement of the metal moving wire 16, the actual movement range of the metal moving wire 16 is obtained, and the breathing movement range D is obtained breath Mapping with the actual range of motion of the wire 16; by this arrangement, 0.1 x d each of the scale maximum and minimum portions formed by the metal grid 12 can be reserved motor I.e. with a stroke of 0.8 x d motor As the actual movement range of the metal moving wire 16, so as to avoid the patient from stimulating deep inhalation and exceeding the lower limit of the movement travel of the metal moving wire 16; according to the data value p of the ith sampling point on the breathing curve i And obtaining the time interval between adjacent sampling points according to the sampling frequencyAnd obtains the real-time movement position q of the metal moving wire 16 according to the mapping relation i ＝p i From this calculation, the metal movement is obtainedSpeed of change between adjacent real-time motion positions of filamentsAccording to the control signal, the motor 19 is used for driving the metal moving wire 16 to realize synchronous motion corresponding to the breathing curve on the scale formed by the metal grid 12, so that the breathing curve of the user obtained by the breathing monitoring device is reproduced on the marking device 1, the position of the metal moving wire 16 on the metal grid 12 can be obtained simultaneously in a CT image of an affected part of a patient through the design, and the corresponding breathing phase point is judged according to the position relation between the metal moving wire 16 and the metal grid 12; the communication delay, the control delay and the CT image delay are all systematic errors, and can be automatically compensated and eliminated by the system after calculation.
The sampling frequency of the invention is above 30Hz, so the delay formed above does not affect puncture phase prompt;
the breathing curve obtained by the method can directly drive the movement wire to move so as to realize more visual and real breathing movement, but the difference of physique of patients possibly leads to the breathing movement range D of the patients breath Exceeding the actual movement range of the wire 16 according to the previous setting by 0.8 x d motor Then the sampled data of the breathing curve is scaled to the real-time movement position of the wire 16 according to a certain proportion, in the present invention Mapping the data value of the ith sample point on the breathing curve to the movement distance D of the wire 16 motor In the metal wire, and calculating the change speed v between adjacent real-time movement positions of the metal wire i To control the movement of the wire 16 to prevent deep breathing conflict movement limits; wherein p is min Is the minimum value of respiratory motion, p max Is the maximum of respiratory motion; beta is a safety factor, and is generally 0.2.
The doctor can accurately judge the scale position of the metal moving wire 16 on the metal grid 12 according to the cross-sectional image of the selected CT image, further obtain the respiratory phase point of the patient, determine the puncture phase according to the plan, and in the subsequent puncture process, when the metal moving wire 16 moves to the corresponding puncture phase again, the doctor controls the execution of the puncture needle, so that the uncertainty caused by respiratory motion is eliminated.
In addition, since both the wire 16 and the metal grid 12 are points when imaged, the physician can distinguish between the wire 16 and the metal grid 12 according to shape or thickness.
The working principle of the invention is as follows:
the doctor fixes the calibration device 1 on the CT machine according to the position relation between the metal grid and the detector, and simultaneously connects an output line of the respiration monitoring device to a controller of the device to guide the patient to breathe normally;
the controller is automatically calibrated, a breathing curve of a patient changing along with time is obtained according to sampling data of at least one period input by the breathing monitoring device, and the maximum amplitude of the movement of the metal moving wire 16 is set, so that the movement of the metal moving wire 16 can be well measured and cannot exceed a limit;
after calibration is completed, CT scanning is carried out in normal respiration of a patient, and the controller obtains a respiration curve of the patient along with time change according to sampling data input by the respiration monitoring device and controls the motor to drive the metal movable wire 16 to realize synchronous movement corresponding to the respiration curve on scales formed by the metal grid 12 according to the respiration curve; the doctor selects a cross section suitable for puncture according to the image, records corresponding respiratory phase points, and if the robot punctures the respiratory phase points, the system can automatically identify the respiratory phase points; the doctor punctures at the corresponding respiratory phase point according to the planned needle insertion path, so that puncture errors caused by respiratory movement can be reduced and eliminated.
The application method of the system for marking respiratory phase points based on the CT image of the invention, as shown in fig. 5, comprises the following steps:
(1) The marking device 1 is arranged on the detector side of the CT machine, so that the marking device 1 is positioned between the detector and the ray source, and the metal grid 12 is parallel to the extending and retracting direction of the bed of the CT machine 2; a respiration monitoring device is arranged at a corresponding position on the patient body and used for collecting respiration data of the patient along with time change; the controller is respectively connected with the motor 19 and the respiration monitoring device of the marking device 1, and obtains the respiration curve of the patient along with the change of time according to the method;
(2) When the CT machine scans the image of the affected part of the patient, the controller controls the motor to drive the metal movable wire 16 according to the obtained breathing curve of the patient changing along with time to realize synchronous movement corresponding to the breathing curve on the scale formed by the metal grid 12, so that the breathing curve of the patient changing along with time is reproduced on the marking device 1;
(3) The doctor selects a required CT image and performs puncture planning, and meanwhile, the respiratory phase point of the patient during puncture is obtained according to the scale value corresponding to the metal moving wire 16 on the metal grid 12 on the CT image;
(4) After calculation, the system errors such as communication delay, control delay, CT image delay and the like are eliminated, and the doctor punctures and drops the needle when the movable wire 16 moves to the corresponding puncturing phase again in the subsequent puncturing process.
According to the invention, the marking device is arranged at the corresponding position of the CT, the CT images the affected part of the patient, and simultaneously images the moving wire and the grid for recording the respiratory phase point, so that the CT image is combined with the respiratory phase, the corresponding respiratory phase can be obtained at the same time of collecting the CT image, a doctor can accurately judge the position, the angle and the respiratory phase point of a target object according to the cross-sectional image of the selected CT image, and the uncertainty caused by respiratory motion can be eliminated at the corresponding respiratory phase point according to planning in the subsequent puncturing process.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.
Claims (13)
1. A system for marking respiratory phase points in CT images, comprising: comprising the following steps:
the scale marker is arranged on the CT machine;
a movable marker reciprocating along a scale formed by the scale markers;
a respiration monitoring device for sampling patient respiration data;
the controller is used for acquiring the breathing data of the patient acquired by the breathing monitoring device, obtaining a breathing curve of the patient according to the breathing data, and controlling the movable marker to move along the scale synchronously with the breathing curve of the user according to the breathing curve of the patient;
the controller receives sampling data of at least one period sent by the respiration monitoring device, calculates to obtain two points with farthest distances, calculates average values of distances between other sampling points and the two points respectively, selects a point with smaller average value as a datum point, and obtains a respiration curve of a patient along with time change according to the distance, the direction change and the sampling time between the other sampling points and the datum point.
2. The system for labeling respiratory phase points in CT images of claim 1, wherein: the scale markers and the movable markers are made of materials with different densities and capable of being displayed in CT images.
3. The system for labeling respiratory phase points in CT images of claim 1, wherein: the cross-sectional areas of the scale marker and the movable marker are different.
4. The system for labeling respiratory phase points in CT images of claim 1, wherein: the controller controls the movable marker to reciprocate through a motor.
5. The system for labeling respiratory phase points in CT images of claim 4, wherein: the motor is connected with a transmission mechanism, the movable marker is installed on the transmission mechanism, and the motor drives the movable marker to reciprocate through the transmission mechanism.
6. The system for labeling respiratory phase points in CT images of claim 5, wherein: the transmission mechanism is a synchronous belt wheel.
7. The system for labeling respiratory phase points in CT images of claim 1, wherein: the controller obtains the sampling data sent by the respiration monitoring device and then carries out abnormality detection on the sampling data, and the method specifically comprises the following steps:
if |x i+1 -x i-1 |<α*max(|x i -x i-1 |,|x i -x i+1 I), the ith sampling point is considered to be abnormal, and the data value is replaced by the average value of the data values sampled by the front sampling point and the rear sampling point, namely x i ＝(x i+1 +x i-1 ) 2; wherein x is i Data value representing the ith sample point, alpha represents a threshold coefficient, x i+1 、x i-1 Respectively representing the i+1 th sampling point and the i-1 th sampling point.
8. The system for labeling respiratory phase points in CT images of claim 1, wherein: the controller takes the distance between the two points farthest from the controller as the respiratory movement range D breath Obtaining the movement stroke D of the movable marker according to the scale marker motor The set distance upwards at the lowest position of the scale formed by the scale marks is used as the lowest position of the movable marks, the set distance downwards at the highest position of the scale formed by the scale marks is used as the highest position of the movable marks, so that the actual movement range of the movable marks is obtained, and the breathing movement range D is obtained breath Mapping with the actual movement range of the movable marker, and controlling the movable marker to move synchronously with the breathing curve of the user in the obtained actual movement range of the movable marker according to the mapping.
9. According to claimThe system for marking respiratory phase points in CT images described in 1, wherein: according to the data value p of the ith sampling point on the breathing curve i Obtaining the time interval between adjacent sampling points according to the sampling frequency of the breathing curveAnd obtaining the real-time movement position q of the movable marker according to the mapping relation i ＝p i From this the speed of change between the adjacent real-time movement positions of the movable marker is calculated> The movement of the movable marker is controlled accordingly.
10. The system for labeling respiratory phase points in CT images of claim 9, wherein: in the event that the movement of the movable marker is beyond the range of the scale Mapping the data value on the breathing curve of the ith sampling point to the movement stroke D of the movable marker motor And calculating the change speed between the adjacent real-time motion positions of the movable marker according to the change speed and controlling the movement of the movable marker according to the change speed.
11. The system for labeling respiratory phase points in CT images of claim 1, wherein: and monitoring the variation of the datum point in real time, considering that the datum point needs to be calibrated when the variation exceeds a set threshold value, calculating the deviation between the sampling data at the phase point of the corresponding datum point in the historical data and the sampling data of the datum point according to the periodic variation property of the datum point, and superposing the deviation to the sampling data after the datum point.
12. The system for labeling respiratory phase points in CT images of claim 8, wherein: the set distance is 0.1 x D motor 。
13. The system for labeling respiratory phase points in CT images of claim 1, wherein: the respiration monitoring device adopts a respiration bellyband, an infrared respiration tracking device or a mask type respiration measuring device.
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